CN103038154B - Method and device for determining a travel height of a working machine - Google Patents
Method and device for determining a travel height of a working machine Download PDFInfo
- Publication number
- CN103038154B CN103038154B CN201180039699.7A CN201180039699A CN103038154B CN 103038154 B CN103038154 B CN 103038154B CN 201180039699 A CN201180039699 A CN 201180039699A CN 103038154 B CN103038154 B CN 103038154B
- Authority
- CN
- China
- Prior art keywords
- hoisting depth
- work machine
- ground
- determining
- attachment point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 49
- 238000012935 Averaging Methods 0.000 claims description 7
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
The invention relates to a method for determining a travel height of a working machine in which a height measurement between a position along an approximately perpendicular movement axis of a travel element (2) of the working machine (1) and a reference point is carried out. In order to determine the travel height correctly even when the ground is of a non-homogeneous condition, the ground (3) on which the working machine (2) is located serves as a reference point, and multiple measurement signals are determined for the measurement of the height, said measurement signals being fed to a mean value forming system, wherein the mean value is used to determine the travel height.
Description
Technical field
The present invention relates to a kind of method of the hoisting depth for determining Work machine, for the elevation carrection implemented this Work machine between the position and bench mark of the approximately perpendicular axis of movement of the lift elements along Work machine.
Background technology
In Work machine, such as, in High Level Rack loading machine, operating personal selects the desired hoisting depth of the lift elements of Work machine by pressing button, makes lift elements automatically occupy desired hoisting depth thus.Be necessary in advance the height of single High Level Rack section to be input in the control setup of Work machine for this reason.
Altitude measurement system is arranged on Work machine, and it measures the hoisting depth between lift elements and bench mark, wherein, and the attachment point of bench mark normally on the housing of Work machine.Attachment point is added to measured from bench mark until the hoisting depth of lift elements to the spacing on ground in this as fixed value.
Because bench mark is deemed to be fixing parameter to the spacing on ground, so due to uneven ground characteristics, such as due to the crack in ground, and cause promote operation position on hoisting depth mal and the lift elements of High Level Rack loading machine does not occupy required hoisting depth to arrive the specific section of High Level Rack.Manually must calibrate hoisting depth again after operating personal, this is very consuming time.
Summary of the invention
Therefore technical matters to be solved by this invention is, is provided for the method and apparatus determining hoisting depth, in the method, although there is ground, local irregularity degree, can export correct hoisting depth all the time.
According to the present invention, this technical matters solves thus, namely, ground is used as bench mark, and Work machine rest on the ground, and obtains multiple measurement signal in order to elevation carrection, these measurement signals are transferred for being averaged, and wherein aviation value is used for determining hoisting depth.The advantage done like this is, balances uneven ground characteristics by averaging.Therefore can export correct hoisting depth on each position promoting operation, and operating personal need not manual recalibration.Average and there is another advantage be simultaneously, can compensating measure time erroneous reflections or sensor error.
Advantageously, hoisting depth is determined by the altitude measurement system that two are measured toward each other, wherein, the Part I hoisting depth from the first attachment point on Work machine to lift elements is determined and the Part II hoisting depth obtained from the second attachment point on Work machine to ground.Assessment is simplified by the division of the measurement of hoisting depth.
In a kind of design plan, to average in being used to for determining Part II hoisting depth measurement signal and in order to the hoisting depth based on ground determining lift elements, the Part II hoisting depth determined by aviation value to be added with the Part I hoisting depth just obtained without the need to aviation value.Measurement signal is averaged in longer time gap at this, and therefore ground irregularity degree is also reliably eliminated from observed reading.By making to average only for determining the Part II hoisting depth from the second attachment point to ground, ensure that the ground irregularity degree of local finite can not distort the measurement of hoisting depth.
In one expansion design, the first attachment point on Work machine and the second attachment point on Work machine are arranged on approximately uniform height, and wherein, the first and second part hoisting depths are summed into hoisting depth.By the conformability in the position of two attachment points, just do not need when determining hoisting depth to revise.
As alternative, the first attachment point on Work machine and the second attachment point are separated from each other by approximately perpendicular spacing and in order to the hoisting depth based on ground determining lift elements, the spacing between the first and second attachment points are added to the first and second part hoisting depths.Be ensure that by these correction measures and correctly can determine hoisting depth all the time.
Advantageously, in order to determine Part II hoisting depth, ground is scanned especially continuously by low frequency ground.By continuous scanning, in the running movement of Work machine, ensure that the hoisting depth exporting a corresponding Work machine current location all the time, wherein, in Work machine, implement lifting process.
Of the present inventionly a kind ofly expand design and relate to a kind of equipment of the hoisting depth for determining Work machine, hoisting depth is determined by the altitude measurement system between the approximately perpendicular measurement of the lift elements at Work machine and bench mark.Although in order to still correct hoisting depth can be provided when ground characteristics is uneven, ground is used as bench mark, Work machine place on the ground and there is such device, they obtain multiple measurement signal to obtain hoisting depth, these measurement signals are transferred for being averaged to eliminate ground irregularity degree, wherein, aviation value characterizes hoisting depth.Thus ensure that and can automatically export correct hoisting depth all the time between operational period and lift elements automatically can arrive the corresponding layer of High Level Rack equipment all the time promoting on each position of Work machine.
Advantageously use two altitude measurement systems measured relative to one another, wherein, first altitude measurement system determines the Part I hoisting depth from the first attachment point Work machine to lift elements, the Part II hoisting depth from the second attachment point on Work machine to ground then obtained by second altitude measurement system, wherein by the measurement signal of assessment for determining Part II hoisting depth of averaging.By being divided into two part hoisting depths, make these two altitude measurement systems can be arranged in can directly call in the position of energy supply device and communicator on Work machine.
In a kind of modification, two altitude measurement systems comprise the sensor for wirelessly determining the first and second part hoisting depths respectively.Particularly advantageously can obtain hoisting depth thus, because sensor comprises evaluation electronics, therefore not need other parts for elevation carrection, it reduce the cost that hoisting depth is measured.
In one expansion design, at least one sensor is configured to laser sensor or is configured to ultrasonic transduter.Laser or ultrasonic transduter are the altitude measurement systems that can be purchased, and therefore can not produce R&D costs when using this altitude measurement system.
Accompanying drawing explanation
The present invention allow for multiple form of implementation.Wherein a kind of form of implementation should be explained in detail by accompanying drawing.
In accompanying drawing:
Fig. 1 is the schematic diagram that the hoisting depth of Work machine is measured.
Detailed description of the invention
Figure 1 illustrates the schematic diagram that the hoisting depth on Work machine is measured.At this for fork truck, it must occupy different hoisting depths, so that such as there being the High Level Rack of multiple layers to freight.Work machine 1 has lift elements 2 at this, and lift elements can adjust perpendicular to the forward motion direction of Work machine 1.Work machine 1 is arranged to move on ground 3, and wherein, ground 3 has irregularity degree, and irregularity degree is illustrated by the example in crack 4.The bumper/spoiler of Work machine 1 is furnished with hoisting depth measuring system 5, and this system is made up of two altitude measurement systems.Under these two altitude measurement systems 5 are arranged side by side in height identical on Work machine 1, therefore only can see a hoisting depth measuring system 5 in FIG.First hoisting depth measuring system is measured to the scope of lift elements 2 from the position on bumper/spoiler at this, and the second hoisting depth measuring system is then measured from lighting the bumper/spoiler of Work machine 1 perpendicular to ground, ground 3.Two the different layouts of hoisting depth measuring system 5 on fork truck bumper/spoiler bring convenience, that is, the energy supply of hoisting depth measuring system can not so intricately directly be connected to hoisting depth measuring system 5 from Work machine 1 with communicating of hoisting depth measuring system.
Each hoisting depth measuring system 5 is configured at this sensor comprising evaluation electronics, this sensor emission measurement beam, such as laser sensor or ultrasonic transduter.Measurement beam sends towards lift elements 2 by the first hoisting depth measuring system, and lift elements then reflects this measurement beam.Second hoisting depth measuring system sends measurement beam towards ground 3, and this measurement beam is reflected there equally.Received and assessment by the first or second hoisting depth measuring system again at this by the beam reflected respectively.Two sensing systems press principle of uniformity work at this, according to this principle, determine the time between sending at beam and being received by the beam reflected.Obtain Part I hoisting depth I by the first hoisting depth measuring system thus, and obtain Part II hoisting depth II by the second hoisting depth measuring system.
Because the ground irregularity degree of local is as crack 4, distort the observed reading of Part II hoisting depth II, so in order to determine that Part II hoisting depth II in long period interval obtains multiple measurement signal in succession, these measurement signals are transferred for averaging.The aviation value exported is used as the observed reading for Part II hoisting depth II.Because this ensure that the ground irregularity degree of local restricted can not distort the measurement of hoisting depth.After output aviation value, this aviation value is added to Part I hoisting depth I, and Part I hoisting depth is obtained along the direction of lift elements 2 by the first hoisting depth measuring system.What this was measured completes without the need to aviation value.
By averaging, the impact of ground irregularity degree on the observed reading of Part II hoisting depth II of local is very little.
As alternative, the single measurement signal very different from common measurement signal is not considered when averaging.The strong ground irregularity degree that thus prevent manifest error measurement or appearance can not distort observed reading.
By determining Part II hoisting depth II continuously, ensure that at operating personal by automatically adjusting the hoisting depth of corresponding site condition during pressing button selection hoisting depth all the time, and need not operating personal manual recalibration be passed through.
The present invention can not only be used advantageously in general fork truck, and is used in High Level Rack loading machine or bay-lift.
Claims (11)
1. for determining the method for the hoisting depth of Work machine, the elevation carrection between the position and bench mark of the approximately perpendicular axis of movement of the lift elements (2) along Work machine (1) is implemented for Work machine, it is characterized in that, by ground (3) as bench mark, Work machine (1) place on the ground, and obtain multiple measurement signal in order to elevation carrection, these measurement signals are transferred for averaging, and wherein aviation value is used to determine hoisting depth.
2. by method according to claim 1, it is characterized in that, hoisting depth is determined by two altitude measurement systems measured relative to one another (5), wherein determines the Part I hoisting depth (I) from the first attachment point on Work machine (1) to lift elements (2) and the Part II hoisting depth (II) obtained from the second attachment point on Work machine (1) to ground (3).
3. by method according to claim 2, it is characterized in that, to average in being used in for determining Part II hoisting depth (II) measurement signal and in order to the hoisting depth based on ground (3) determining lift elements (2), the Part II hoisting depth (II) determined by aviation value to be added with the Part I hoisting depth (I) of trying to achieve without the need to aviation value.
4. by the method described in Claims 2 or 3, it is characterized in that, the first attachment point on Work machine (1) is similar to identical height placement with the second attachment point on Work machine (1), and wherein first (I) and Part II hoisting depth (II) are summed into hoisting depth.
5. by method according to claim 3, it is characterized in that, the first attachment point on Work machine (1) and the second attachment point are separated from each other by approximately perpendicular spacing and the spacing between the first and second attachment points are added to Part I hoisting depth (I) and Part II hoisting depth (II) in order to the hoisting depth based on ground (3) determining lift elements.
6. by the method described in Claims 2 or 3, it is characterized in that, in order to determine Part II hoisting depth (II) to the scanning of ground (3) low frequency ground.
7., by the method described in Claims 2 or 3, it is characterized in that, in order to determine that Part II hoisting depth (II) scans continuously to ground (3).
8. for determining the equipment of the hoisting depth of Work machine, hoisting depth is determined by the altitude measurement system between the position of the approximately perpendicular axis of movement in the lift elements (2) along Work machine (1) and bench mark, it is characterized in that, by ground (3) as bench mark, Work machine (1) place on the ground and exist in order to determine that hoisting depth obtains the device of multiple measurement signal, these measurement signals are transferred for being averaged to eliminate ground irregularity degree (4), wherein the corresponding hoisting depth of aviation value.
9. by equipment according to claim 8, it is characterized in that, use two altitude measurement systems measured relative to one another (5), wherein the first altitude measurement system determines Part I hoisting depth (I) from the first attachment point on Work machine (1) to lift elements (2) and Part II hoisting depth (II) from the second attachment point on Work machine (1) to ground (3) obtained by the second altitude measurement system, wherein evaluated by averaging for determining the measurement signal of Part II hoisting depth (II).
10., by equipment according to claim 9, it is characterized in that, these two altitude measurement systems (5) comprise the sensor for wirelessly determining first (I) and Part II hoisting depth (II) respectively.
11. by the equipment described in claim 9 or 10, and it is characterized in that, at least one sensor is configured to laser or ultrasonic transduter.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010039471.8 | 2010-08-18 | ||
| DE201010039471 DE102010039471B4 (en) | 2010-08-18 | 2010-08-18 | Method and device for determining a lifting height of a working machine |
| PCT/EP2011/063105 WO2012022598A1 (en) | 2010-08-18 | 2011-07-29 | Method and device for determining a travel height of a working machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103038154A CN103038154A (en) | 2013-04-10 |
| CN103038154B true CN103038154B (en) | 2015-05-27 |
Family
ID=44629568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180039699.7A Expired - Fee Related CN103038154B (en) | 2010-08-18 | 2011-07-29 | Method and device for determining a travel height of a working machine |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9008900B2 (en) |
| EP (1) | EP2605995B1 (en) |
| CN (1) | CN103038154B (en) |
| DE (1) | DE102010039471B4 (en) |
| WO (1) | WO2012022598A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008029205A1 (en) * | 2008-06-19 | 2009-12-24 | Jungheinrich Aktiengesellschaft | Truck with optical lift height measurement |
| DE102010039477A1 (en) * | 2010-08-18 | 2012-02-23 | Robert Bosch Gmbh | Method and device for determining a lifting height of a working machine |
| CN106604886B (en) | 2014-09-15 | 2019-06-18 | 克朗设备公司 | Fork truck with optics cargo sensing structure |
| CN111060015B (en) * | 2019-12-10 | 2021-08-13 | 太原昂迈威电子科技有限公司 | Small-amplitude displacement detection device for stacker in movement vertical direction |
| CN111320110B (en) * | 2020-03-08 | 2021-05-28 | 南京幸庄科技创新产业园管理有限公司 | Lifting device for roller conveying |
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2010
- 2010-08-18 DE DE201010039471 patent/DE102010039471B4/en not_active Expired - Fee Related
-
2011
- 2011-07-29 CN CN201180039699.7A patent/CN103038154B/en not_active Expired - Fee Related
- 2011-07-29 WO PCT/EP2011/063105 patent/WO2012022598A1/en active Application Filing
- 2011-07-29 EP EP20110739048 patent/EP2605995B1/en not_active Not-in-force
- 2011-07-29 US US13/816,864 patent/US9008900B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| DE102010039471A1 (en) | 2012-02-23 |
| EP2605995B1 (en) | 2014-09-10 |
| DE102010039471B4 (en) | 2014-02-13 |
| EP2605995A1 (en) | 2013-06-26 |
| WO2012022598A1 (en) | 2012-02-23 |
| CN103038154A (en) | 2013-04-10 |
| US9008900B2 (en) | 2015-04-14 |
| US20130204489A1 (en) | 2013-08-08 |
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